38 lines
1.0 KiB
Python
38 lines
1.0 KiB
Python
import sys
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import rospy
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from marker_pos_angle.msg import id_pos_angle
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from fiducial_msgs.msg import FiducialTransformArray
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from tf.transformations import euler_from_quaternion
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pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10)
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'''
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This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the camera and transforms them to a position in the 2d plane and the angle of the robot in the plane
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'''
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def callback(data):
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for d in data.transforms:
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id = d.fiducial_id
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q = d.transform.rotation
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t = d.transform.translation
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euler = euler_from_quaternion([q.x, q.y, q.z, q.w])
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m = id_pos_angle()
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m.id = id
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m.x = t.x
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m.y = -t.y
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m.angle = -euler[2]
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pub.publish(m)
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def main(args):
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rospy.init_node('euler_quaternion_node', anonymous=True)
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quaternion_sub = rospy.Subscriber("/fiducial_transforms", FiducialTransformArray, callback)
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rospy.spin()
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if __name__ == '__main__':
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main(sys.argv)
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